NAME
UAV::Pilot::ARDrone::Control
SYNOPSIS
my $driver = UAV::Pilot::ARDrone::Driver->new( ... );
$driver->connect;
my $dev = UAV::Pilot::ARDrone::Control->new({
driver => $driver,
});
$dev->takeoff;
$dev->pitch( 0.5 );
$dev->wave;
$dev->flip_left;
$dev->land;
DESCRIPTION
UAV::Pilot::ControlHelicopter implementation for the Parrot AR.Drone.
METHODS
new
NOTE: It's highly recommended that you initialize the subclass UAV::Pilot::ARDrone::Control::Event
instead of this one.
new({
driver => $driver,
video => $video_driver,
});
Constructor. As with UAV::Pilot::Control
, the driver
option is a mandatory parameter with the value being a UAV::Pilot::Driver::ARDrone
object.
The optional video
parameter is a UAV::Pilot::Driver::ARDrone::Video
object. When the emergency mode is toggled on the ARDrone, the video stream needs to be restarted. Placing the object here will call emergency_restart()
on the video object for you.
takeoff
Takeoff.
land
Land.
pitch
pitch( 0.5 )
Pitch (front-to-back movement). Takes a floating point number between -1.0 and 1.0. On the AR.Drone, negative numbers pitch the nose down and fly forward.
roll
roll( -1.0 )
Roll (left-to-right movement). Takes a floating point number between -1.0 and 1.0. On the AR.Drone, negative numbers go left.
yaw
yaw( -0.25 )
Yaw (spin). Takes a floating point number between -1.0 and 1.0. On the AR.Drone, negative numbers spin left.
vert_speed
vert_speed( 0.7 )
Change the vertical speed. Takes a floating point number between -1.0 and 1.0. On the AR.Drone, negative numbers make it go down.
calibrate
Calibrates the magnetometer. This must be done while in flight. The drone will spin around (yaw movement) while it does this.
emergency
Toggles the emergency state. If your UAV goes out of control, call this to immediately shut it off. When in the emergency state, it will not be responsive to further commands. Call this again to bring it out of this state.
reset_watchdog
Sends a command to reset the watchdog process. You need to send some command at least every 2 seconds, or else the AR.Drone thinks the connection was lost. If you don't have anything else to send, send this one.
If you run start_event_loop()
, the reset will happen for you.
hover
Stops the UAV and hovers in place.
start_userbox_nav_data
Starts saving navigation data on the UAV itself. The file will be in the directory:
/boxes/flight_YYYYMMDD_hhmmss
You can FTP into the AR.Drone to retrieve this.
stop_userbox_nav_data
Stops logging navigation data on the UAV.
cancel_userbox_nav_data
Stops logging navigation data on the UAV AND deletes the log directory.
take_picture
take_picture( $delay, $num_pics )
Saves a picture in JPG format to:
/boxes/flight_YYYYMMDD_hhmmss/picture_YYYYMMDD_hhmmss.jpg
You can FTP into the AR.Drone to retrieve this.
record_usb
Start recording the video stream to a USB stick attached to the AR.Drone's internal USB port. The stick must have at least 100MB free.
setup_read_nav_event
setup_read_nav_event( $event );
Pass a UAV::Pilot::EasyEvent
object. Sets up a UAV::Pilot::NavCollector::AckEvents
and starts an event timer for reading nav packets.
set_multiconfig
set_multiconfig( $user_id, $app_id, $session_id )
NOTE: This doesn't yet seem to work right. You can set the keys, but the UAV won't respond to config commands after that. It should just be a matter of sending AT*CONFIG_IDS
before each AT*CONFIG
, which is what send_config()
will do for you. But it doesn't work. Still debugging . . .
Pass a unique user, app, and session ID. The best way to generate these is to take a string identifying your user and app and run it through a CRC32. The $session_id
is optional; if passed, it should be unique to this particular run.
In the AR.Drone, "multiconfig" is a way to set configurations that are unique to the user, app, or session. For backwards compatibility with old apps, the AR.Drone only lets you set some keys when using multiconfig. See the AR.Drone SDK docs for details.
send_config
send_config( $name, $value )
Send a config name/value. If you used set_multiconfig()
, this will send the necessary commands before the config setting.
FLIGHT ANIMATION METHODS
The Parrot AR.Drone comes preprogrammed with a bunch of "flight animations" (complicated achrebatic manuevers). You can call the methods below to run them. Note that some of these need a generous amount of horizontal and vertical space, so be sure to be in a wide open area for testing.
I find "wave" and "flip_behind" are particularly good ways to impress house guests :)
phi_m30_deg
phi_30_deg
theta_m30_deg
theta_30_deg
theta_20deg_yaw_200deg
theta_20deg_yaw_m200deg
turnaround
turnaround_godown
yaw_shake
yaw_dance
phi_dance
theta_dance
vz_dance
wave
phi_theta_mixed
double_phi_theta_mixed
flip_ahead
flip_behind
flip_left
flip_right
LED ANIMATION METHODS
The LEDs on the Parrot AR.Drone can be directly controlled using these animation methods. They all take two parameters: the frequency (in Hz) as a floating point number, and the duration.
led_blink_green_red
led_blink_green
led_blink_red
led_blink_orange
led_snake_green_red
led_fire
led_standard
led_red
led_green
led_red_snake
led_blank
led_right_missile
led_left_missile
led_double_missile
led_front_left_green_others_red
led_front_right_green_others_red
led_rear_right_green_others_red
led_rear_left_green_others_red
led_left_green_right_red
led_left_red_right_green
led_blink_standard